Merge branch 'master' of http://106.15.194.121:8083/liutao/1069_MIMO_PlUS

1069_MIMO_G2.sln

 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 16
-VisualStudioVersion = 16.0.30907.101
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33414.496
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "LoadCVSLibrary\LoadCSVLibrary.csproj", "{064BEBF5-8FAA-4EA2-A5F3-A06E6E7D9251}"
 EndProject

Common/Setting_Init.cs

@@ -3,7 +3,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
- 
+
 
 namespace OnlineStore.Common
 {
@@ -18,8 +18,8 @@ namespace OnlineStore.Common
         /// <summary>
         /// 系统主界面标题
         /// </summary>
-        public static string App_Title = "App_Title"; 
-         
+        public static string App_Title = "App_Title";
+
         /// <summary>
         /// 摄像机名称
         /// </summary>
@@ -38,11 +38,37 @@ namespace OnlineStore.Common
         public static string FixBuffInfo = "FixBuffInfo";
 
         [MyConfigComment("进出轴运动负载阈值")]
-        public static MyConfig<float> Device_InOutMaxLoadRate=50;
+        public static MyConfig<float> Device_InOutMaxLoadRate = 50;
 
         [MyConfigComment("管理员密码")]
         public static MyConfig<string> User_AdminPassword = "123456";
         [MyConfigComment("启用管理员密码")]
         public static MyConfig<bool> User_Enable = false;
+
+        #region 料盘高度计算参数
+        [MyConfigComment("启用自定义厚度计算策略")]
+        public static MyConfig<bool> Switch_UseCustHeightList = false;
+        /// <summary>
+        /// 宽度15料盘，厚度自减mm
+        /// </summary>
+        [MyConfigComment("宽度15料盘，厚度自减mm")]
+        public static MyConfig<int> Param_CalHeight_Width15HeightSubVal = 2;
+        /// <summary>
+        /// 宽度13料盘，厚度自减mm
+        /// </summary>
+        [MyConfigComment("宽度13料盘，厚度自减mm")]
+        public static MyConfig<int> Param_CalHeight_Width13HeightSubVal = 1;
+        [MyConfigComment("如果计算出的厚度小于指定值,都归类为8mm")]
+        public static MyConfig<int> Param_CalHeight_Height8MaxVal = 12;
+        [MyConfigComment("自定义厚度列表")]
+        public static MyConfig<string[]> Param_CalHeight_HeightList = new string[] { "12=12#16", "16=16#24", "24=24#32", "32=32#44", "44=44#56", "56=56#60" };
+        #endregion
+
+        [MyConfigComment("出库厚度检测下偏差的值")]
+        public static MyConfig<int> OutstoreHeightCheckLowerDeviation = 5;
+        [MyConfigComment("出库厚度检测上偏差的值")]
+        public static MyConfig<int> OutstoreHeightCheckUpperDeviation = 3;
+        [MyConfigComment("出库料盘定位信号对射触发位置高度偏差")]
+        public static MyConfig<int> ReelCheckTriggerDeviation = 5;
     }
 }

Common/StringList.cs

@@ -141,6 +141,7 @@ namespace OnlineStore.Common
         tray_detect_reel_01,
         system_running_cantmove,
         before_FrmPositionTool_stopmuchine,
-        temp
+        temp,
+        outstore_abnormal_reel
     }
 }

Common/util/ConfigAppSettings.cs

@@ -22,188 +22,15 @@ namespace OnlineStore.Common
             Interlocked.Increment(ref seq);
             return seq;
         }
-        public static string GetValue(string keyStr, string storeStr)
-        {
-            string key = keyStr + storeStr;
-            System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                return GetValue(keyStr);
-            }
-            else
-            {
-                return config.AppSettings.Settings[key].Value;
-            }
-        }
-
-        public static decimal GetNumValue(string keyStr, string storeStr)
-        {
-            string key = keyStr + storeStr;
-            decimal a = 0;
-            System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                return GetNumValue(keyStr);
-            }
-            else
-            {
-                {
-                    Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            }
-            return a;
-        }
-        public static int GetIntValue(string keyStr, string storeStr)
-        {
-            string key = keyStr + storeStr;
-            int a = 0;
-            System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                return GetIntValue(keyStr);
-            }
-            else
-            {
-                {
-                    Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            } return a;
-        }
-        public static string GetValue(string key)
-        {
-            System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
-                return "";
-            }
-            else
-            {
-                return config.AppSettings.Settings[key].Value;
-            }
-        }
-
-        public static decimal GetNumValue(string key)
-        {
-            decimal a = 0;
-            System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
-                return a;
-            }
-            else
-            {
-                {
-                    Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            }
-            return a;
-        }
-        public static int GetIntValue(string key)
-        {
-            int a = 0;
-            System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
-                return a; 
-            }
-            else
-            {
-                {
-                    Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            } return a;
-        }
-        public static void SaveValue(string key, int value)
-        {
-            SaveValue(key, value.ToString());
-        }
-        public static void SaveValue(string key, string value)
-        {
-            try
-            {
-                if (key.Equals("") || value.Equals(""))
-                {
-                    return;
-                }
-                //增加的内容写在appSettings段下 <add key="RegCode" value="0"/> 
-                System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-                if (config.AppSettings.Settings[key] == null)
-                {
-                    SetValue(key, value);
-                }
-                else
-                {
-                    UpdateConfig(key, value);
-                }
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error( "SaveValue保存配置出错：AppKey=" + key + "，AppValue=" + value + ",",ex);
-            }
-        }
 
-        public static string GetValue(object debugDeviceId)
+        public static T GetValue<T>(string key, T defaultVal = default(T), string comment = "")
         {
-            throw new NotImplementedException();
-        }
-
-        /// <summary>
-        /// 更新配置文件信息
-        /// </summary>
-        /// <param name="name">配置文件字段名称</param>
-        /// <param name="Xvalue">值</param>
-        private static void UpdateConfig(string name, string Xvalue)
-        {
-            try
-            {
-                XmlDocument doc = new XmlDocument();
-                doc.Load(Application.ExecutablePath + ".config");
-                XmlNode node = doc.SelectSingleNode(@"//add[@key='" + name + "']");
-                XmlElement ele = (XmlElement)node;
-                ele.SetAttribute("value", Xvalue);
-                doc.Save(Application.ExecutablePath + ".config");
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error( "UpdateConfig保存配置出错：name=" + name + "，Xvalue=" + Xvalue + ",",ex);
-            }
+            ConfigHelper.Config.SetComment(key, comment);
+            return ConfigHelper.Config.Get(key, defaultVal);
         }
- 
-
-        ///<summary>  
-        ///向.config文件的appKey结写入信息AppValue   保存设置  
-        ///</summary>  
-        ///<param name="AppKey">节点名</param>  
-        ///<param name="AppValue">值</param>
-        private static void SetValue(String AppKey, String AppValue)
+        public static void SetValue<T>(string key, T defaultVal = default(T))
         {
-            try
-            {
-                XmlDocument xDoc = new XmlDocument();
-                xDoc.Load(System.Windows.Forms.Application.ExecutablePath + ".config");
-                XmlNode xNode;
-                XmlElement xElem1;
-                XmlElement xElem2;
-                xNode = xDoc.SelectSingleNode("//appSettings");
-                xElem1 = (XmlElement)xNode.SelectSingleNode("//add[@key='" + AppKey + "']");
-                if (xElem1 != null)
-                    xElem1.SetAttribute("value", AppValue);
-                else
-                {
-                    xElem2 = xDoc.CreateElement("add");
-                    xElem2.SetAttribute("key", AppKey);
-                    xElem2.SetAttribute("value", AppValue);
-                    xNode.AppendChild(xElem2);
-                }
-                xDoc.Save(System.Windows.Forms.Application.ExecutablePath + ".config");
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error( "SetValue保存配置出错：AppKey=" + AppKey + "，AppValue=" + AppValue + ",",ex);
-            }
+            ConfigHelper.Config.Set(key, defaultVal);
         }
     }
 }

DeviceLibrary/DeviceLibrary.csproj

@@ -32,6 +32,10 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="AGVLib, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\DLL\AGVLib\AGVLib\bin\Debug\AGVLib.dll</HintPath>
+    </Reference>
     <Reference Include="CodeLibrary, Version=1.0.8384.25672, Culture=neutral, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\DLL\CodeLibrary.dll</HintPath>
@@ -90,6 +94,7 @@
     <Compile Include="theMachine\Common.cs" />
     <Compile Include="theMachine\JobList.cs" />
     <Compile Include="theMachine\LabelParam.cs" />
+    <Compile Include="theMachine\MainMachine_AGV.cs" />
     <Compile Include="theMachine\MainMachine_ServerControl.cs" />
     <Compile Include="theMachine\MainMachine _BtnProcess.cs" />
     <Compile Include="theMachine\MainMachine _Common.cs" />

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -160,6 +160,7 @@ namespace DeviceLibrary
                 var DelSpeed = Config.DelSpeed > 0 ? Config.DelSpeed : targetSpeed * 4;
                 AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// Config.AddSpeed, Config.DelSpeed);
             }
+            LogUtil.info(AxisName + $" AbsMove:{targetPosition},{targetSpeed}");
         }
 
         public void SpeedMove(int targetSpeed)

DeviceLibrary/theMachine/MainMachine.cs

@@ -191,6 +191,7 @@ namespace DeviceLibrary
             ConfigHelper.Config.Get("CamTestReel_Ability", false);
             ConfigHelper.Config.Set("CamTestReel_debug", false);
             ConfigHelper.Config.Get("Device_1315_ReelHeight_Compensation", 0);
+            initAgv();
         }
 
         private void Crc_LanguageChangeEvent(object sender, EventArgs e)
@@ -275,6 +276,7 @@ namespace DeviceLibrary
                     if (runStatus == RunStatus.Running)
                     {
                         ioMonitor();
+                        AGVProcess();
                         StringProcess();
                         ClampProcess();
                         boxTransport.Process();
@@ -646,11 +648,11 @@ namespace DeviceLibrary
                     //ok = false;
                     StringDoorSuddenStop();
                 }
-                //else if (!lastStringSafetyStatus)
-                //{
-                //    StringDoor.ResumeSingle();
-                //    lastStringSafetyStatus = true;
-                //}
+                else if (!lastStringDoorSafetyStatus)
+                {
+                   // StringDoor.ResumeSingle();
+                    lastStringDoorSafetyStatus = true;
+                }
             }
             if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
             {
@@ -711,9 +713,10 @@ namespace DeviceLibrary
                 }
             }
         }
+        bool lastStringDoorSafetyStatus=true;
         void StringDoorSuddenStop()
         {
-            //if (lastSafeCheckStatus)
+            if (lastStringDoorSafetyStatus)
             {
                 AxisBean axis = StringDoor.axisBean;
                 AxisBean.StopMultiAxis(new List<AxisBean> { axis });
@@ -723,6 +726,7 @@ namespace DeviceLibrary
                 {
                     ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
                 }
+                lastStringDoorSafetyStatus=false;
             }
         }
         /// <summary>

DeviceLibrary/theMachine/MainMachine_AGV.cs

+using AGVLib;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Xml.Linq;
+
+namespace DeviceLibrary
+{
+    public partial class MainMachine
+    {
+        string serverIp = ConfigAppSettings.GetValue("AGV_ServerIp", "127.0.0.1", "AGV服务软件所在电脑IP");
+        int serverPort = ConfigAppSettings.GetValue("AGV_ServerPort", 12000, "AGV服务接口");
+        int nodeId = ConfigAppSettings.GetValue("AGV_NodeId", 1, "AGV节点编号");
+        string nodeName = ConfigAppSettings.GetValue("AGV_NodeName", "MIMO", "AGV节点名称");
+        Client client;
+        Node curNode;
+        MoveInfo AGVMoveInfo;
+        void initAgv()
+        {
+
+            if (!UseAgv())
+                return;
+            AGVMoveInfo = new MoveInfo("AGV模块");
+            curNode = new Node()
+            {
+                id = nodeId,
+                name = nodeName,
+            };
+            client = new Client(new List<Node> { curNode });
+            client.ConnectedEvent += Client_ConnectedEvent;
+            client.ReceivedEvent += Client_ReceivedEvent;
+            client.Connect(serverIp, serverPort);
+            LogUtil.LOGGER.Info($"初始化AGV节点，并连接服务端：{serverIp}:{serverPort}");
+        }
+        public bool UseAgv()
+        {
+            return ConfigAppSettings.GetValue("AGV_Enable", false, "是否启用AGV");
+        }
+        public void SetStatus(NodeStatus nodeStatus)
+        {
+            curNode.status = nodeStatus;
+            client.SetStatus(curNode);
+        }
+        private void Client_ReceivedEvent(Node node)
+        {
+            if (curNode.id == nodeId && curNode.name.Equals(node.name))
+            {
+                curNode.status = node.status;
+                curNode.shelf_id = node.shelf_id;
+                curNode.level = node.level;
+                LogUtil.LOGGER.Info($"收到AGV服务端信息：【{node.name}】【{node.status}】【{node.shelf_id}】");
+            }
+        }
+
+        private void Client_ConnectedEvent(bool status)
+        {
+            if (status)
+                LogUtil.LOGGER.Info("已连接AGV服务端");
+            else
+            {
+                LogUtil.LOGGER.Info("已断开AGV服务");
+            }
+        }
+        NodeStatus curNodeStatus;
+        /// <summary>
+        /// 呼叫AGV--需要料串
+        /// </summary>
+        void needEnter(NodeStatus nodeStatus)
+        {
+            if (nodeStatus.Equals(NodeStatus.NeedEnter) ||
+               nodeStatus.Equals(NodeStatus.NeedEnter_Empty) ||
+               nodeStatus.Equals(NodeStatus.NeedEnter_Full))
+            {
+                if (AGVMoveInfo.IsStep(MoveStep.Wait))
+                {
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_In01);
+                    curNodeStatus = nodeStatus;
+                    AGVMoveInfo.log($"需要进入料串,{curNodeStatus}");
+                }
+            }
+
+
+        }
+        /// <summary>
+        /// 呼叫AGV--送出料串
+        /// </summary>
+        void needLeave(NodeStatus nodeStatus)
+        {
+            if (nodeStatus.Equals(NodeStatus.NeedLeave) ||
+                    nodeStatus.Equals(NodeStatus.NeedLeave_Full) ||
+                    nodeStatus.Equals(NodeStatus.NeedLeave_Empty))
+            {
+                if (AGVMoveInfo.IsStep(MoveStep.Wait))
+                {
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out01);
+                    curNodeStatus = nodeStatus;
+                    AGVMoveInfo.log($"需要离开料串,{curNodeStatus}");
+                }
+            }
+
+        }
+        public void AGVProcess()
+        {
+            if (!UseAgv())
+            {
+                return;
+            }
+            if (CheckWait(AGVMoveInfo))
+                return;
+            Node curnode = curNode;
+            if (curnode == null)
+            {
+                LogUtil.LOGGER.Error("无节点信息,请检查配置");
+                return;
+            }
+            switch (AGVMoveInfo.MoveStep)
+            {
+                case MoveStep.Wait:
+                    if (StringMoveInfo.IsStep(MoveStep.StringOut_Released) || StringMoveInfo.IsStep(MoveStep.Wait))
+                    {
+                        if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
+                        {
+                            //AGV已到达，请求开门
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
+                            AGVMoveInfo.log($"Wait,AGV到达，准备开门");
+                            //AGV已到达，请求开门
+                            OpenDoor(AGVMoveInfo);
+                        }
+                        else if (curnode.status.Equals(NodeStatus.DetachOk))
+                        {
+                            //AGV分离完成，可关门
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
+                            CloseDoor(AGVMoveInfo);
+                            AGVMoveInfo.log($"Wait,收到脱离脱离信号，关闭折叠门");
+                        }
+                        else
+                        {
+                            AGVMoveInfo.log($"Wait,收到{curnode.status}信号，不处理");
+                        }
+                    }
+                    else//料串不在正常状态
+                    {
+                        if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
+                        {
+                            //AGV已到达，请求开门
+                            SetStatus(NodeStatus.RejectDock);
+                            AGVMoveInfo.log($"收到AGV的{NodeStatus.RequsetDock}/{NodeStatus.Arrive}信号，当前料串正在使用，拒绝停靠");
+                        }
+                        else if (curnode.status.Equals(NodeStatus.RequestEnter))
+                        {
+                            //AGV请求出料到料仓
+                            SetStatus(NodeStatus.RejectEnter);
+                            AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，当前料串正在使用，拒绝AGV出料");
+                        }
+                        else if (curnode.status.Equals(NodeStatus.RequestLeave))
+                        {
+                            //AGV请求进料到AGV
+                            SetStatus(NodeStatus.RejectLeave);
+                            AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，当前料串正在使用，拒绝AGV进料");
+                        }
+                    }
+                    break;
+                #region 进料
+                case MoveStep.AGV_In01:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_In02);
+                    RobotManage.mainMachine.SetStatus(curNodeStatus);
+                    AGVMoveInfo.log($"设置{curnode.name}状态为{curNodeStatus}");
+                    break;
+                case MoveStep.AGV_In02:
+                    if (IOMonitor.IODebound(IO_Type.StringFront_Check, Config, IO_VALUE.HIGH, 2000) ||
+                                IOMonitor.IODebound(IO_Type.StringBack_Check, Config, IO_VALUE.HIGH, 2000))
+                    {
+                        RobotManage.mainMachine.SetStatus(NodeStatus.None);
+                        AGVMoveInfo.log($"前端信号/后端信号亮，取消呼叫AGV送料串");
+                        AGVMoveInfo.EndMove();
+                    }
+                    else if (AGVMoveInfo.IsTimeOut(5) && curnode.status != curNodeStatus)
+                    {
+                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_In02);
+                        RobotManage.mainMachine.SetStatus(curNodeStatus);
+                        AGVMoveInfo.log($"AGV状态不是{curNodeStatus}，重新呼叫AGV");
+                    }
+                    else
+                    {
+                        if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
+                        {
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
+                            AGVMoveInfo.log($"AGV到达，准备开门");
+                            //AGV已到达，请求开门
+                            OpenDoor(AGVMoveInfo);
+                        }
+                    }
+                    break;
+                case MoveStep.AGV_In03:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_In04);
+                    break;
+                case MoveStep.AGV_In04:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_In05);
+                    Line.LineRun("n", false, 10);
+                    AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，允许进料");
+                    break;
+                case MoveStep.AGV_In05:
+                    if (curnode.status == NodeStatus.MayEnter)
+                    {
+                        if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
+                        {
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_In06);
+                            RobotManage.mainMachine.SetStatus(NodeStatus.FinishEnter);
+                            AGVMoveInfo.log($"料串到位");
+                            AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
+                        }
+                        else
+                        {
+                            // ShowInfo("等待料串到位");
+                        }
+                    }
+                    else
+                    {
+                        RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
+                    }
+                    break;
+                case MoveStep.AGV_In06:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_DetachOK);
+                    RobotManage.mainMachine.SetStatus(NodeStatus.Detach);
+                    AGVMoveInfo.log($"向AGV发送脱离信号");
+                    break;
+                #endregion
+
+                #region 出料
+                case MoveStep.AGV_Out01:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out02);
+                    RobotManage.mainMachine.SetStatus(curNodeStatus);
+                    AGVMoveInfo.log($"设置{curnode.name}状态为{curNodeStatus}");
+                    break;
+                case MoveStep.AGV_Out02:
+                    if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) &&
+                        IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW))
+                    {
+                        RobotManage.mainMachine.SetStatus(NodeStatus.None);
+                        AGVMoveInfo.log($"前端信号和后端信号均灭，取消呼叫AGV接料串");
+                        AGVMoveInfo.EndMove();
+                    }
+                    else if (AGVMoveInfo.IsTimeOut(5) && curnode.status != curNodeStatus)
+                    {
+                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out02);
+                        RobotManage.mainMachine.SetStatus(curNodeStatus);
+                        AGVMoveInfo.log($"AGV状态不是{curNodeStatus}，重新呼叫AGV");
+                    }
+                    else
+                    {
+                        if (curnode.status.Equals(NodeStatus.RequsetDock) || curnode.status.Equals(NodeStatus.Arrive))
+                        {
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_OpenDoor);
+                            AGVMoveInfo.log($"AGV到达，准备开门");
+                            //AGV已到达，请求开门
+                            OpenDoor(AGVMoveInfo);
+                        }
+                    }
+                    break;
+                case MoveStep.AGV_Out03:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out04);
+                    break;
+                case MoveStep.AGV_Out04:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
+                    Line.LineRun("n", true, 2);
+                    AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
+                    break;
+                case MoveStep.AGV_Out05:
+                    if (curnode.status != NodeStatus.MayLeave)
+                    {
+                        RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
+                    }
+                    else
+                    {
+                        if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
+                        {
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out06);
+                            RobotManage.mainMachine.SetStatus(NodeStatus.FinishLeave);
+                            AGVMoveInfo.log($"料串离开");
+                            AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
+                        }
+
+                    }
+                    break;
+                case MoveStep.AGV_Out06:
+                    AGVMoveInfo.NextMoveStep(MoveStep.AGV_DetachOK);
+                    RobotManage.mainMachine.SetStatus(NodeStatus.Detach);
+                    AGVMoveInfo.log($"向AGV发送脱离信号");
+                    break;
+                #endregion
+                case MoveStep.AGV_OpenDoor:
+                    if (curnode.status == NodeStatus.RequestEnter)
+                    {
+                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
+                        RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
+                        CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
+                        Line.LineRun("n", false, 2);
+                        AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
+                    }
+                    else if (curnode.status == NodeStatus.RequestLeave)
+                    {
+                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
+                        RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
+                        CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
+                        Line.LineRun("n", true, 2);
+                        AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
+                    }
+                    else if (curnode.status.Equals(NodeStatus.RequsetDock))
+                    {
+                        if(IOValue(IO_Type.StringDoor_Open).Equals(IO_VALUE.HIGH))
+                        {
+                            RobotManage.mainMachine.SetStatus(NodeStatus.MayDock);
+                        }
+                    }
+                    break;
+                case MoveStep.AGV_DetachOK:
+                    if (curnode.status == NodeStatus.DetachOk)
+                    {
+                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
+                        CloseDoor(AGVMoveInfo);
+                        AGVMoveInfo.log($"收到脱离脱离信号，关闭折叠门");
+                    }
+                    else if (AGVMoveInfo.IsTimeOut())
+                    {
+                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
+                        CloseDoor(AGVMoveInfo);
+                        AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");
+                    }
+                    break;
+                case MoveStep.AGV_CloseDoor:
+                    AGVMoveInfo.EndMove();
+                    break;
+            }
+        }
+        void OpenDoor(MoveInfo moveInfo)
+        {
+            StringDoorOpen(moveInfo);
+        }
+        void CloseDoor(MoveInfo moveInfo)
+        {
+            StringDoorClose(moveInfo);
+        }
+    }
+}

DeviceLibrary/theMachine/MainMachine_Clamp.cs

@@ -104,9 +104,9 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.ReelClamp_04:
                     ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_05);
-                    ClampMoveInfo.log($"关闭翻板门，检测盘宽");
                     //CylinderMove(ClampMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
                     ClampMoveInfo.MoveParam.PlateW = GetWidth();
+                    ClampMoveInfo.log($"关闭翻板门，检测盘宽={ClampMoveInfo.MoveParam.PlateW}");
                     CloseFlipDoor(ClampMoveInfo);
                     break;
                 case MoveStep.ReelClamp_05:
@@ -122,8 +122,8 @@ namespace DeviceLibrary
                     else
                     {
                         ClampErrorCount = 0;
-                        ReelGetted();
                         ClampMoveInfo.log($"检测到盘,盘宽:{ClampMoveInfo.MoveParam.PlateW},通知料串料已取走");
+                        ReelGetted();
                     }
                     break;
                 case MoveStep.ReelClamp_WaitGaugeHeight:

DeviceLibrary/theMachine/MainMachine_Store.cs

@@ -69,7 +69,7 @@ namespace DeviceLibrary
                             //    //RobotManage.UserPause(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"));
                             //}
                             //else
-                            Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
+                            Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm);
                             RobotManage.UserPause(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"));
                             return;
                         }
@@ -101,7 +101,7 @@ namespace DeviceLibrary
                             //    //RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
                             //}
                             //else
-                            Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.warning);
+                            Msg.add(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"), MsgLevel.alarm);
                             RobotManage.UserPause(crc.GetString("Res0004", "收到出库任务,但料叉上有料,无法启动,请检查"));
                             return;
                         }

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -9,6 +9,7 @@ using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
+using System.Windows.Forms;
 
 namespace DeviceLibrary
 {
@@ -120,6 +121,7 @@ namespace DeviceLibrary
                         StringMoveInfo.log($"当前没有料串");
                         StringState = StringStateE.None;
                         LastStringState = StringStateE.None;
+                        needEnter(AGVLib.NodeStatus.NeedEnter);
                     }
                     else if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH))
                     {
@@ -202,7 +204,8 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StringLoad_04:
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
-                    LastOutDownPosition = Batch_Axis.GetAclPosition();
+                    //OffsetEmptyToTrayCheck 空料串到P2点与料盘定位信号补偿值
+                    LastOutDownPosition = Batch_Axis.GetAclPosition() + ConfigHelper.Config.Get("OffsetEmptyToTrayCheck", 10) * Config.Batch_PoToMM;
                     if (LastStringState == StringStateE.OutStore)
                     {
                         StringMoveInfo.log($"恢复上次料串信息为出库料串");
@@ -215,7 +218,7 @@ namespace DeviceLibrary
                         StringState = StringStateE.OutStore;
                         if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0 && ServerCM.queueTaskCount <= 0 && boxTransport.IsComplateOrFree)
                         {
-                            SetReelHeight(GetHeight(StringMoveInfo));
+                            SetReelHeight(GetHeight(ClampMoveInfo));
                             StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
                             StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                         }
@@ -239,7 +242,7 @@ namespace DeviceLibrary
                         SetReelHeight(GetHeight(ClampMoveInfo));
                     newreel = false;
 
-                    StringMoveInfo.log($"料串有盘下降5mm");
+                    StringMoveInfo.log($"料串有盘下降{Config.Batch_DetectDownMM}mm");
                     var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
                     if (tpos2 < 0)
                     {
@@ -264,7 +267,7 @@ namespace DeviceLibrary
                     if (StringState == StringStateE.InStore)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
-                        StringMoveInfo.log($"料串有盘上升5mm");
+                        StringMoveInfo.log($"料串有盘上升{Config.Batch_DetectDownMM + 2}mm");
                         var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
                         Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
                         CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
@@ -279,7 +282,7 @@ namespace DeviceLibrary
                         {
                             tpos2 = 0;
                         }
-                        StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}cm,={tpos2},{Batch_Axis.GetAclPosition()}");
+                        StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,={tpos2},{Batch_Axis.GetAclPosition()}");
                         Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
                         StringType = StringTypeE.Out;
                     }
@@ -349,7 +352,7 @@ namespace DeviceLibrary
                     else if (tpos > Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
-                        StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}cm");
+                        StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}mm");
                         Batch_Axis.AbsMove(StringMoveInfo, tpos, Config.Batch_P1_speed);
                     }
                     else if (!downCheck3)
@@ -384,10 +387,18 @@ namespace DeviceLibrary
                     StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05);
                     var heightcheck = (LastOutDownPosition - Batch_Axis.GetAclPosition()) / Config.Batch_PoToMM;
                     StringMoveInfo.log($"LastOutDownPosition={LastOutDownPosition},CurrentPosition={Batch_Axis.GetAclPosition()},heightcheck={heightcheck}");
-                    if (heightcheck <= 5)
+                    int height = StringMoveInfo.MoveParam.PlateH + 3;
+                    int outstoreHeightCheckLowDevia = Setting_Init.OutstoreHeightCheckLowerDeviation;
+                    int outstoreHeightCheckUpDevia = Setting_Init.OutstoreHeightCheckUpperDeviation;
+                    if (heightcheck <= Setting_Init.ReelCheckTriggerDeviation)
+                    {
+                        Msg.add(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"), MsgLevel.alarm);
+                        RobotManage.UserPause(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"));
+                    }
+                    else if ((heightcheck < height - outstoreHeightCheckLowDevia) || (heightcheck > height + outstoreHeightCheckUpDevia))//
                     {
-                        Msg.add("出库时料盘未成功放入料串,请检查", MsgLevel.alarm);
-                        RobotManage.UserPause("出库时料盘未成功放入料串,请检查");
+                        Msg.add(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"), MsgLevel.alarm);
+                        RobotManage.UserPause(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"));
                     }
                     break;
                 case MoveStep.StringReelPut_05:
@@ -418,7 +429,9 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StringOut_02:
                     StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
-                    StringMoveInfo.log($"打开门");
+                    needLeave(AGVLib.NodeStatus.NeedLeave);
+                    StringMoveInfo.log($"呼叫AGV取料串");
+                    // StringMoveInfo.log($"打开门");
                     //CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
                     break;
                 case MoveStep.StringOut_03:
@@ -564,6 +577,9 @@ namespace DeviceLibrary
         string LastCode = "";
         private int GetHeight(MoveInfo moveInfo)
         {
+            int w15SubVal = Setting_Init.Param_CalHeight_Width15HeightSubVal;
+            int w13SubVal = Setting_Init.Param_CalHeight_Width13HeightSubVal;
+            int w8MaxVal = Setting_Init.Param_CalHeight_Height8MaxVal;
             int LastHeight = 0;
             int AxisChangeValue = Config.Batch_PoToMM;
             //计算高度
@@ -571,6 +587,8 @@ namespace DeviceLibrary
             StartMovePosition += RealPulse;
             float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
             string buchongStr = "";
+            string prefix = $"料盘高度计算({moveInfo.Name})--";
+            LogUtil.info($"{prefix}计算的原始厚度 {height}mm");
             if (Batch_Axis.IsInPosition(Config.Batch_P2))
             {
                 buchongStr = $"(最后一盘料已补充{Config.LastTrayAddHeight})";
@@ -578,37 +596,95 @@ namespace DeviceLibrary
             }
             if (moveInfo.MoveParam.PlateW == 15)
             {
-                height -= 2;
+                height -= w15SubVal;
+                LogUtil.info($"{prefix}宽度15料盘，厚度自减{w15SubVal}mm");
             }
             else if (moveInfo.MoveParam.PlateW == 13)
             {
-                height -= 1;
+                height -= w13SubVal;
+                LogUtil.info($"{prefix}宽度13料盘，厚度自减{w13SubVal}mm");
+            }
+            else
+            {
+                LogUtil.info($"{prefix}宽度为{moveInfo.MoveParam.PlateW}mm");
             }
-            //如果检测出<=15,都按照8计算
-            if (height < 12)
+            if (height < w8MaxVal)
             {
                 LastHeight = 8;
+                LogUtil.info($"{prefix}计算出的厚度小于{w8MaxVal}，认为是8mm料盘");
             }
             else
             {
-                List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
-                //heightList = (from m in heightList orderby m descending select m).ToList<int>();
-                //float minCha = height;
-                foreach (int h in heightList)
+                if (Setting_Init.Switch_UseCustHeightList)
+                {
+                    try
+                    {
+                        string[] heights = Setting_Init.Param_CalHeight_HeightList;
+                        foreach (var item in heights)
+                        {
+                            string[] s1 = item.Split('=');
+                            int curHeight;
+                            int min, max;
+                            curHeight = int.Parse(s1[0]);
+                            string[] s2 = s1[1].Split('#');
+                            min = int.Parse(s2[0]);
+                            max = int.Parse(s2[1]);
+
+                            if (height >= min && height < max)
+                            {
+                                LastHeight = curHeight;
+                                break;
+                            }
+
+                        }
+                    }
+                    catch (Exception e)
+                    {
+                        LogUtil.error($"{prefix}使用自定义高度列表异常", e);
+                        List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
+                        float minCha = float.MaxValue;
+                        foreach (int h in heightList)
+                        {
+                            float curCha = Math.Abs(height - h);
+                            if (curCha < minCha)
+                            {
+                                LastHeight = h;
+                                minCha = curCha;
+                            }
+                        }
+                        //    List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
+                        //    foreach (int h in heightList)
+                        //    {
+                        //        if (height > h)
+                        //        {
+                        //            LastHeight = h;
+                        //        }
+                        //    }
+                    }
+
+                }
+                else
                 {
-                    if (height > h)
+                    List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
+                    float minCha = float.MaxValue;
+                    foreach (int h in heightList)
                     {
-                        LastHeight = h;
+                        float curCha = Math.Abs(height - h);
+                        if (curCha < minCha)
+                        {
+                            LastHeight = h;
+                            minCha = curCha;
+                        }
                     }
                 }
+
             }
             if (LastHeight <= 8) { LastHeight = 8; }
             //string code = CodeManager.ProcessCode(LastCodeList);
-            string msg = Name + $" 计算盘高：上升前 [" + StartMovePosition + $"]实时[ " + EndMovePosition + $"]差值[" + (EndMovePosition - StartMovePosition) + $"]系数[" + AxisChangeValue + $"] 计算后" + buchongStr + "[" + height + "]" + $",归类为【" + LastHeight + $"mm】条码【" + LastCode + "】";
+            string msg = Name + prefix + "上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + "[" + height + "]，" + buchongStr + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
             LogUtil.info(msg);
             return LastHeight;
         }
-
         public void StringDoorOpen(MoveInfo moveInfo)
         {
             if (StringDoor != null)

DeviceLibrary/theMachine/MoveStep.cs

@@ -6,7 +6,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    
+
     public enum MoveStep
     {
         Wait,
@@ -31,7 +31,7 @@ namespace DeviceLibrary
         H16_HomeReset,
         HEND_HomeReset,
 
-        
+
         StringLoad_01,
         StringLoad_01a,
         StringLoad_02,
@@ -157,7 +157,27 @@ namespace DeviceLibrary
         StoreTS16,
         StoreTS17,
         StoreTS18,
-       
+        //AGV
+        AGV_In01,
+        AGV_In02,
+        AGV_In03,
+        AGV_In04,
+        AGV_In05,
+        AGV_In06,
+        AGV_In07,
+        AGV_In08,
+
+        AGV_Out01,
+        AGV_Out02,
+        AGV_Out03,
+        AGV_Out04,
+        AGV_Out05,
+        AGV_Out06,
+        AGV_Out07,
+        AGV_OpenDoor,
+        AGV_DetachOK,
+        AGV_CloseDoor,
+
     }
 
 

TheMachine/SettingControl.cs

@@ -25,7 +25,7 @@ namespace TheMachine
             InitializeComponent();
             RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
             //chbAutoRun.Enabled = false;
-            chbAutoRun.Checked = Convert.ToBoolean(ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun));
+            chbAutoRun.Checked = Convert.ToBoolean(ConfigAppSettings.GetValue(Setting_Init.App_AutoRun,0, "系统启动时自动启动料仓，=1时自动启动，并隐藏窗口，=0时不需要"));
             this.chbAutoRun.CheckedChanged += new System.EventHandler(this.chbAutoRun_CheckedChanged);
             //chbAutoRun.Enabled = true;
             for (int i = 0; i < 20; i++)
@@ -80,12 +80,12 @@ namespace TheMachine
         {
             if (chbAutoRun.Checked)
             {
-                ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 1);
+                ConfigAppSettings.SetValue(Setting_Init.App_AutoRun, 1);
                 AutoRun(Application.ExecutablePath, true);
             }
             else
             {
-                ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 0);
+                ConfigAppSettings.SetValue(Setting_Init.App_AutoRun, 0);
                 AutoRun(Application.ExecutablePath, false);
             }
         }

TheMachine/resources/en-US.lngres

@@ -400,4 +400,5 @@ Res0020	升降轴位置调试：	Updown-Axis Debug Location
 l_flipDoor_no_work	左侧翻板水平信号未亮	The left flap horizontal signal is not lit
 r_flipDoor_no_work	右侧翻板水平信号未亮	The right flap horizontal signal is not lit
 reel_not_in_right_status	料盘放置异常	The reel is placed abnormally
-confirm_no_reel_in_com	请确保料盘已从库位中取出	Make sure that the reel has been removed from the location
\ No newline at end of file
+confirm_no_reel_in_com	请确保料盘已从库位中取出	Make sure that the reel has been removed from the location
+outstore_abnormal_reel	The material tray is not successfully put into the string, please check
\ No newline at end of file

TheMachine/resources/ja-JP.lngres

@@ -402,4 +402,5 @@ Res0021	请输入正确的速度	正しい速度を入力してください正
 l_flipDoor_no_work	左侧翻板水平信号未亮	左フラップ水平信号が点灯していない
 r_flipDoor_no_work	右侧翻板水平信号未亮	右フラップ水平信号が点灯しない
 reel_not_in_right_status	料盘放置异常	リールが異常に配置されている
-confirm_no_reel_in_com	请确保料盘已从库位中取出	リールがその場所から取り外されていることを確認してください
\ No newline at end of file
+confirm_no_reel_in_com	请确保料盘已从库位中取出	リールがその場所から取り外されていることを確認してください
+outstore_abnormal_reel	倉庫を出るとき、材料トレイがひもにうまく入れられていません、確認してください
\ No newline at end of file

TheMachine/resources/zh-CN.lngres

@@ -376,7 +376,7 @@ string_not_onposition	回原时X09,X10信号异常,料串可能不在正确位
 tray_detect_reel_01	料叉传感器X30感应到有料,请人工确认	料叉传感器X30感应到有料,请人工确认
 system_running_cantmove	系统正在运行,不能手动控制伺服
 before_FrmPositionTool_stopmuchine	运行库位校准程序前,需要先停止料仓的运行
-		
+outstore_abnormal_reel	出库时料盘未成功放入料串,请检查